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…lum representaion for Pedestrians - Updated the SocialForceModelIPP structure to include ground support attributes. - Enhanced the Sqlite serialization to store ground support data.
…sim into Inverted-Pendulum-Paradigm
WA_PaintOnScreen (set by QVTKRenderWindowInteractor) causes an infinite paintEvent→Render loop on macOS. Disable it on Darwin in the RenderWidget constructor.
Recording auto-detects IPP columns (pos_gs_x, height, radius) and populates RecordingAgent fields. Trajectory renders ground support circles and connection lines alongside upper body circles.
Documents the equations of motion from the paper and NetLogo reference implementation, with parameter mapping and implementation checklist.
Rewrite SocialForceModelIPP to match the equations from "When legs and bodies synchronize" (Chatagnon et al., 2026) and the NetLogo reference implementation. Physics changes: - Unbalancing: lambda_u * (-v_s * e_n - v_n) (body falls away from legs) - Balance recovery: lambda_b * (v_s * e_n - v_leg) (legs chase body) - Damping: -lambda * v_n - All interactions use pure exponential repulsion (no contact forces) - Separate interaction ranges: B (upper body) and B_leg (legs) - No mass division in force computation API changes: - Model constructor: no parameters (was: body_force, friction) - New agent params: lambda_u, lambda_b, balance_speed, damping, leg_force_distance - Removed agent params: mass, obstacle_scale - Defaults from NetLogo: A=5, B=0.5, B_leg=0.3, lambda_u=0.5, lambda_b=1.0, v_s=1.0, lambda=1.0 All layers updated: C++ core, C API, pybind11 bindings, Python wrapper, example, and tests (9/9 pass).
…paration clamping - Fix unbalancing term sign to +v_s·e_n (body falls away from legs) - Add separate obstacle_scale and obstacle_force_distance for wall tuning - Add max body-leg separation clamping (LEG_SCALING_FACTOR * height) - Handle co-located body/legs with destination-direction fallback - Default ground_support_position to agent position when not specified
The leg and upper body can be up to ~0.92m apart, potentially in different grid cells. Using the upper body's wall list could miss walls near the legs.
Fix unbalancing sign to +v_s·e_n, add obstacle_scale/obstacle_force_distance to parameter table, update comparison table to reflect completed status.
Ozaq
marked this pull request as draft
August 11, 2026 13:53
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Two level pedestrians with social force model.